From fff56c4720daf9de4273f8fecc6a1c0e72651f03 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 11 Jul 2013 11:33:06 +0900 Subject: [PATCH] WPNav: stopping point projection uses wp_leash --- libraries/AC_WPNav/AC_WPNav.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp index 02b4d35c6f..819c46c5e0 100644 --- a/libraries/AC_WPNav/AC_WPNav.cpp +++ b/libraries/AC_WPNav/AC_WPNav.cpp @@ -137,7 +137,7 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo linear_distance = _wp_accel_cms/(2.0f*kP*kP); target_dist = linear_distance + (vel_total*vel_total)/(2.0f*_wp_accel_cms); } - target_dist = constrain_float(target_dist, 0, _loiter_leash*2.0f); + target_dist = constrain_float(target_dist, 0, _wp_leash_xy*2.0f); target.x = position.x + (target_dist * velocity.x / vel_total); target.y = position.y + (target_dist * velocity.y / vel_total);